cmake_minimum_required(VERSION 2.8.3)
project(pronto_ros)

set(CMAKE_CXX_STANDARD 14)

find_package(catkin REQUIRED COMPONENTS pronto_core
                                        roscpp
                                        sensor_msgs
                                        eigen_conversions
                                        tf_conversions
                                        pronto_msgs
                                        geometry_msgs)

# find_package(Boost REQUIRED COMPONENTS system)

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

catkin_package(INCLUDE_DIRS include
               LIBRARIES ${PROJECT_NAME}
               CATKIN_DEPENDS pronto_core
                              roscpp
                              sensor_msgs
                              tf_conversions
                              eigen_conversions
                              pronto_msgs
                              geometry_msgs
               # DEPENDS system_lib
)

include_directories(include ${catkin_INCLUDE_DIRS})

add_library(${PROJECT_NAME} src/ins_ros_handler.cpp
                            src/vicon_ros_handler.cpp
                            src/gps_ros_handler.cpp
                            src/index_meas_ros_handler.cpp
                            src/init_message_ros_handler.cpp
                            src/scan_matcher_ros_handler.cpp
                            src/visual_odometry_ros_handler.cpp
                            src/lidar_odometry_ros_handler.cpp
                            src/ros_frontend.cpp
                            src/pose_msg_ros_handler.cpp
                            src/pronto_ros_conversions.cpp)

target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/pronto_ros_node.cpp)
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ${catkin_LIBRARIES})

add_executable(lidar_odometry_visualizer src/lidar_odom_viz.cpp)
target_link_libraries(lidar_odometry_visualizer ${catkin_LIBRARIES})
add_dependencies(lidar_odometry_visualizer ${catkin_EXPORTED_TARGETS})

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
 install(TARGETS ${PROJECT_NAME} #${PROJECT_NAME}_node
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.hpp")

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pronto_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
